common_objects.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/common_planning_interface_objects/common_objects.h>
 
using namespace planning_scene_monitor;
using namespace robot_model_loader;
 
namespace
{
struct SharedStorage
{
  SharedStorage()
  {
  }
 
  ~SharedStorage()
  {
    tf_buffer_.reset();
    state_monitors_.clear();
    models_.clear();
    robot_model_loaders_.clear();
  }
 
  std::recursive_mutex lock_;
  std::weak_ptr<tf2_ros::Buffer> tf_buffer_;
  std::map<std::string, moveit::core::RobotModelWeakPtr> models_;
  std::map<std::string, CurrentStateMonitorWeakPtr> state_monitors_;
  std::map<std::string, RobotModelLoaderWeakPtr> robot_model_loaders_;
};
 
SharedStorage& getSharedStorage()
{
#if 0  // destruction of static storage interferes with static destruction in class_loader
  // More specifically, class_loader's static variables might be already destroyed
  // while being accessed again in the destructor of the class_loader-based kinematics plugin.
  static SharedStorage storage;
  return storage;
#else  // thus avoid destruction at all (until class_loader is fixed)
  static SharedStorage* storage = new SharedStorage;
  return *storage;
#endif
}
}  // namespace
 
namespace moveit
{
namespace planning_interface
{
std::shared_ptr<tf2_ros::Buffer> getSharedTF()
{
  SharedStorage& s = getSharedStorage();
  std::scoped_lock slock(s.lock_);
 
  std::shared_ptr<tf2_ros::Buffer> buffer = s.tf_buffer_.lock();
  if (!buffer)
  {
    buffer = std::make_shared<tf2_ros::Buffer>(std::make_shared<rclcpp::Clock>(RCL_ROS_TIME));
    s.tf_buffer_ = buffer;
  }
  return buffer;
}
 
robot_model_loader::RobotModelLoaderPtr getSharedRobotModelLoader(const rclcpp::Node::SharedPtr& node,
                                                                  const std::string& robot_description)
{
  SharedStorage& s = getSharedStorage();
  std::scoped_lock slock(s.lock_);
  auto it = s.robot_model_loaders_
                .insert(std::make_pair(node->get_fully_qualified_name() + robot_description,
                                       robot_model_loader::RobotModelLoaderWeakPtr()))
                .first;
  auto rml = it->second.lock();
  if (!rml)
  {
    rml = std::make_shared<RobotModelLoader>(node, robot_description);
    it->second = rml;
  }
  return rml;
}
 
moveit::core::RobotModelConstPtr getSharedRobotModel(const rclcpp::Node::SharedPtr& node,
                                                     const std::string& robot_description)
{
  SharedStorage& s = getSharedStorage();
  std::scoped_lock slock(s.lock_);
  auto it = s.models_.insert(std::make_pair(robot_description, moveit::core::RobotModelWeakPtr())).first;
  moveit::core::RobotModelPtr model = it->second.lock();
  if (!model)
  {
    RobotModelLoaderPtr loader = getSharedRobotModelLoader(node, robot_description);
    // create an aliasing shared_ptr
    model = moveit::core::RobotModelPtr(loader, loader->getModel().get());
    it->second = model;
  }
  return model;
}
 
CurrentStateMonitorPtr getSharedStateMonitor(const rclcpp::Node::SharedPtr& node,
                                             const moveit::core::RobotModelConstPtr& robot_model,
                                             const std::shared_ptr<tf2_ros::Buffer>& tf_buffer)
{
  SharedStorage& s = getSharedStorage();
  std::scoped_lock slock(s.lock_);
  auto it = s.state_monitors_.insert(std::make_pair(robot_model->getName(), CurrentStateMonitorWeakPtr())).first;
  CurrentStateMonitorPtr monitor = it->second.lock();
  if (!monitor)
  {
    // if there was no valid entry, create one
    const bool use_sim_time = node->get_parameter("use_sim_time").as_bool();
    monitor = std::make_shared<CurrentStateMonitor>(node, robot_model, tf_buffer, use_sim_time);
    it->second = monitor;
  }
  return monitor;
}
}  // namespace planning_interface
}  // namespace moveit